Académique Documents
Professionnel Documents
Culture Documents
Heidari Ali
Salamon Oliver
Automation Group
Department of Signals and Systems
CHALMERS UNIVERSITY OF TECHNOLOGY
Göteborg, Sweden 2012
Report No. EX023/2012
MASTER’S THESIS
Contents III
Acknowledgements IV
1 Introduction 1
1.1 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.2 Cell Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2 Workcell 3D Model 7
2.1 Cell Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2 Creating Kinematics & Device Building . . . . . . . . . . . . . . . . 8
2.3 Resource Hierarchy . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.4 Attachments & Mechanical Ports . . . . . . . . . . . . . . . . . . . 10
2.5 Simulation Logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.6 Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
4 PLC 18
4.1 Hardware Preparation . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.2 Software Preparation . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.3 OPC Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.4 Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5 Final Simulation 25
A Appendix 31
A.1 Resource types in DELMIA V6 . . . . . . . . . . . . . . . . . . . . 31
A.2 Manual for Running the Simulation in DELMIA V6 . . . . . . . . . 32
A.3 Manual for Running the PLC Program . . . . . . . . . . . . . . . . 34
A.3.1 Setting up the PLC program . . . . . . . . . . . . . . . . . . 34
A.3.2 Monitoring Mode . . . . . . . . . . . . . . . . . . . . . . . . 39
A.3.3 OPC Configuration . . . . . . . . . . . . . . . . . . . . . . . 42
A.4 List of Figures and Tables . . . . . . . . . . . . . . . . . . . . . . . 45
Göteborg, 2012
Ali Heidari
Oliver Salamon
– Real control code: The actual control code for PLCs and robots as well
as the HMI applications shall remain unchanged while embedding them into
the virtual commissioning environment.
– Real engineering tools: The existing engineering tools and languages for
PLC, robot and HMI applications must be kept.
– Virtual controllers: The developed robot and PLC programs shall run on
virtual controllers which behave identical to the actual controllers [12].
In summary, PLM is a very high risk solution and implementation and companies
which are evaluating it must be extra careful to select the right product from
PLM markets. In this project DELMIA has been chosen to be studied. It offers
solutions for control engineering and automation lifecycle management that enables
validation of the PLC against a virtual machine, a cell, or an entire line and the
generation of a performance analysis of these systems. In addition to testing and
debugging the PLC code, DELMIA V6 allows control departments to work in
parallel and share information with mechanical and electrical departments earlier
in the development process allowing optimization of engineering processes.
Figure 1.1 illustrates the general structure of the Dassault Systèmes digital
manufacturing solution which consists of different tools for all aspects of a pro-
duction cycle. PPR, which stands for Product, Process and Resources, is Das-
sault Systèmes’ integrated model that interlinks representations of the product,
the manufacturing resources (tooling, factory, operators, etc.) and the production
processes. PPR is a fundamental building block of Dassault Systèmes’ PLM strat-
egy and is found in CATIA, DELMIA, and ENOVIA. This integration means that
when a user makes a product design change in CATIA, the change is reflected in
the associated manufacturing processes definition in DELMIA and the resources
data stored in ENOVIA. In this project only the last two element, Control Engi-
neering and Physical Commissioning, and their connection with an actual PLC are
evaluated.
The general goal of the project is to carry out virtual commissioning using
existing resources such as models and programs. PLC programs, robot programs
and models are to be reused whenever possible. This means evaluating how well the
migration from the currently used software at Volvo Car Corporation into DELMIA
V6 works. It is of interest to see how well the software handles the importing and
exporting of different formats, in order to save as much work and time as possible.
Most of the cell 3D models are provided in Process Simulate file format, and some
individual devices are available as CATIA V4 as well as V5 models. Chapter 2
covers the methodology for creating the 3D model of the cell using DELMIA V6.
Chapter 3 discusses how the robot programs were imported. In chapter 4 it is
covered how the PLC program was prepared for simulation. Finally, conclusions
and future work are presented in chapter 6.
1.1 Limitations
The actual production cell handles three different car models in the same produc-
tion line; V70, S80 and V60. Only the latter car model is used for this project as
it is most recent and therefore has 3D models of the production tools available in
CATIA V5 formats. The pallets transporting the car sides through the factory are
considered stationary in this project, hence when the welded parts are placed on
them, they should be disposed of before the next parts arrive. Also four clamps in
the station are closed manually by the operator, however all will be closed by the
PLC in the simulation. The DELMIA versions used for the project were V6R2012
and later upgraded to V6R2012X.
Figure 2.2: The hierarchical organization of the turntable. An area resource is at the
top level, containing the rotary table, the turntable and the two spider as-
semblies which in turn contain the clamps, guiding pins and sensors.
The approach for the robots differs; an organizational resource holds all related,
the robot resource, the tool, the control device and the logics resources. The whole
organizational resource appears as an entity as seen by the cell. The I/O ports are
connected directly to this resource, unlike the components of the turntable, where
the I/Os are handled by the control devices.
Figure 2.3: Figure showing how PLC signals control the air valves that open and close
the clamps of the spider assembly. The macro ”Call DeviceTask” is a call
for the task defined in the clamp controller to open the clamps.
Moreover, the spot welding data in the welding robot program has to be edited.
Standard S4C/S4C+/C5 syntax supports four arguments whereas the robot pro-
grams supplied by Volvo contain five arguments1 . One solution is to reduce the
number of arguments to four, or to customize the RAPID translator to support the
fifth argument. Another limitation is that the two separate .mod files containing
the gripper and weld gun programs cannot be uploaded in the current version.
There are a few reasons for this:
1. The robot program files contain Select/Case syntax which is not supported
by the RAPID translator.
3. Identifiers larger than 16 characters are not supported by the RAPID trans-
lator.
1
Hairon Anthony 2011, email, 23 September, <anthony.hairon@3ds.com>
3.2 Discussion
Unfortunately the RAPID translator is limited to a certain extent and cannot
handle all the contents of the robot programs. Without introducing a few changes
to the programs the compilation and upload is not possible. To conclude, the
translator merely handles the most crucial part, namely the creation of tasks with
movements and weld spot points. The parts which cannot be uploaded must be
added manually. If this procedure is to be done for a large number of projects
it would be more efficient to extend the support of the RAPID translator. The
two main programs used for the robots in the production cell could be uploaded
directly to DELMIA after introducing a small number of changes to the .mod files
containing the programs. As previously mentioned the two tool programs cannot
be uploaded, hence the home positions (like HomeGun321 or HomeGripp412) are
not imported. The target data for home positions needs to be provided in the main
program, by copying and pasting it from the respective tool program. The two tool
programs contain tasks such as dressing of the weld gun, service of tools and weld
testing. Because of the scope of the project most of these tasks are not necessary
to recreate. However, the necessary ones can be created manually in DELMIA’s
Device Task Design workbench. Before uploading the robot programs a S4C con-
troller profile should be uploaded and applied to the two robots in DELMIA. In its
settings the WorldCoords parameter should be set to Boolean value ”false”. The
purpose of this is to give correct tag positions in space.
– Base unit
Figure 4.1 illustrates the Mitsubishi PLC system structure used in this project,
except that no physical I/O modules are used in the communication between the
PLC and the 3D model.
ration
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Profibus modules which were used in the production line at the Volvo Car factory.
PULL C 7 V+ C
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Since these Profibus modules were not required, the parts of the PLC program
MITSUBISHI
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into
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Figure 4.2: Task pool of the PLC program
The cell consists of two industrial ABB robots where each robot has its own
program which handles the communication with the PLC. One of the important
tasks in the PLC part was to find all signals in the PLC program which are needed
to communicate with the robot programs. The electrical document generated with
EPLAN Electric software, was used in order to find a clear point to point connection
between the names that are used in 3D model files and the tag numbers in the PLC
program.
In order to acquire the information from the PLC program it was necessary to
extract the flowchart of the program for each task. For example Figure 4.3 shows
the program flow for fixtures S056 and S057. These are the two spider assemblies,
that are mounted on the turntable. In this flowchart the interconnecting signals
which are used for the communication with the other cells for safety are not shown.
This EPLAN file contains following information about the workcell:
– Installation drawings
– Circuit diagram
– Cable list
– Input/Output list
– Termination diagram
The EPLAN document, which was the only electrical reference in this project,
was used to find the connection between the names of sensors and the actuators in
the 3D model and the tag numbers and the related signals in the PLC program.
Required I/Os were defined on the OPC server and are read from the PLC
while running. These I/Os are categorized in a number of different groups in the
Figure 4.5 shows a snapshot from the running OPC server. It can be seen that
there are six main groups of introduced tag numbers for the OPC server. One group
which is called SystemVariables, is automatically generated when a new controller
is defined. In Figure 4.5, the VolvoPLC is the chosen name for the controller.
These I/Os were introduced to the OPC server as tag numbers with their address.
For introducing an I/O to the OPC server some necessary information is required
such as: name, address, data type and poll interval (how often the tag value is to
be updated). The name of defined tag numbers should comply with the names in
the PLC program and are best chosen to be something meaningful, however for
further clarity the chosen names of the tag numbers in this project are exactly the
same as the ones of the PLC variables. The address of the I/O can be in either IEC
or MIT (Mitsubishi addressing procedure) formats. The GX IEC Developer can
recognize both the IEC and MIT formats for addressing of variables. The required
tag numbers which are defined in the OPC server can be accessed from any OPC
client which can detect the running OPC server.
4.4 Discussion
The general concept of virtual commissioning in this project is validated in terms
of communication with an actual PLC. DELMIA V6 is connected to the actual
Mitsubishi PLC. Although some modifications were needed in the PLC program
in order to work properly. Writing the PLC program while designing the product
and production system reduces the amount of code debugging (i.e. backtracking
signals in the PLC program).
There are a number of POUs in the PLC program which are unrelated to the
station 13-95-050 but unfortunately could not be completely separated from this
station since it has a number of interconnection signals with station 13-95-050.
Many of the backtracking tasks are done to follow these interlocking signals and
to bypass them.
None of the function blocks in the Library Pool of the PLC program could
be edited, these function blocks caused some difficulties for communication be-
tween the PLC program and the robot programs. These function blocks belong to
VolvoLib2 0 library.
Pos. 180°
Pos. 0°
No
Yes
No
No
Yes
Yes
No
Yes
No
Yes
Yes
No
Yes
No
Yes
Figure 5.1: DELMIA’s external control interface. To the left, the smaller window
shows the settings for connections. To the right, the larger window
shows the OPC server browser, where the mapping between OPC tags and
DELMIA I/Os is done. The fields to the left show the different available
tags and the field to the right shows the I/Os of the external control block.
In the device creation phase all I/Os of the devices are defined. These I/Os
and the connections of the whole DELMIA cell model can be seen in Figure 5.2.
2
Human-Machine Interface
There are a few simulation options available which alter how the simulation
runs. ”Simulate in Real Time” can be selected, which will lead to continuous
update of the step size. Slower simulation with respect to real time results in larger
step size, and vice versa. This option can cause varying simulation performance
depending on how heavy computations are at the given moment.
[5] OLE for process control - Wikipedia, the free encyclopedia (2012) [online].
<en.wikipedia.org/wiki/OLE for process control>, Accessed February 2012.
[6] PLM - CIMdata - Global Leader in PLM Consulting (2012) [online]. <www.
cimdata.com/plm.html>, Accessed February 2012.
[15] Kühn W. Digital Factory - Simulation Enhancing the Product and Production
Engineering Process. Proceedings of the 2006 Winter Simulation Conference,
2006.
Organizational – This resource cannot contain logics of its own, but organizes
other types of resources within it. The whole cell is an Organizational re-
source.
Area – Is a ”transparent” resource meaning that upper level resources can access
the other resources contained within. Has a similar purpose as the Organiza-
tional resource, however it lacks some of its properties, such as the possibility
to have I/Os.
Sensor – A special type of resource which contains an arbitrary shape and a beam
attached to it which can be set to detect workpieces or any other geometry
passing the beam. Contains one output of Boolean type by default.
Robot – Robots which are imported in DELMIA from the robot library are au-
tomatically of this resource type.
Control device – This resource is used for describing the behavior of devices
on the same level of the tree through an SFC (Sequence Function Chart)
program. It can have I/Os and control one or more tool devices, also used
for controlling robots.
Logic controller – A logic controller resource can like the control device contain
SFC programs and I/O ports to connect to other resources. This makes it
suitable to be used as a software PLC. In this project it was used for testing
and verification purposes. The logic controller can also directly be exchanged
for external control when the OPC server is connected.
Worker – A worker that handles a process of some kind. The resource contains
a manikin model.
3. In CATIA, enter a suitable search phrase, for instance ’PPR*’, and click on
the magnifying glass. Right-click on the search result ”PPR-13-95-050”, and
select Open with >Open advanced. . . (see Figure A.1). Then make sure
that ”With all representations” and ”With expanded children from
database” are ticked and press Open (see Figure A.2).
4. Double-click on ”13-95-050-Cell”, in the tree. (If the tree does not appear
press F3)
6. A tree containing all logics should open. Here expand the ”13-95-050-Cell”
branch, and scroll down to ”PLC”, select it.
8. To run the simulation, click on ”13-95-050-Cell” in the top window, and then
”Main” in the window below. Make sure that the OPC server is running, and
press the ”Play” button located in the middle of the compass, the simulation
starts.
2. Open the project file by clicking on the yellow highlighted project folder
which is mentioned in Figure A.4 (9531pl).
3. For applying modifications to the PLC program, its security level needs to
be changed. However, for running the program and to view the signal status
during a run, changing the security level is not necessary. For doing this,
select Change Security Level in the Project menu. Security level is by
default set to 1. Set the Security Level to 7 and leave the Password field
empty and press OK.
4. The available PLC program is built and has already been downloaded to
the PLC CPU. If any modifications are made to the PLC program it needs
to be rebuilt and transferred to the PLC CPU before running the program
again. In order to build and download the PLC program into the PLC CPU,
perform the following steps otherwise jump to the next section (Monitoring
Mode).
Figure A.5: Building the project message box, this message box will appear after re-
building the project
6. The built program needs to be transferred to the PLC CPU before running
the simulation. In order to do this select Transfer from the Project menu,
then click on the Download to PLC or use the Ctrl+Alt+W keyboard
shortcut. Following dialogue box will appear (see Figure A.6).
7. Select the Configure button for checking the Transfer Setup Ports. Then
make sure that the settings are the same as in Figure A.7. The USB connec-
tion is chosen for the communication between the PLC CPU and GX IEC
Developer. After checking the transfer setup settings press OK.
8. Select the Configure button for checking the Transfer Setup Projects
from the Transfer to PLC dialogue box. Then make sure that the settings
are same as the Figure A.8. Also make sure that the PLC-Parameter and
Program is chosen as the DOWNLOAD object in the Transfer Setup
dialogue box.
9. Click OK in the Transfer to PLC dialogue box. Then the PLC program will
be downloaded to the PLC CPU. You will be prompted by the message box
as shown in Figure A.9.
Click on the OK button. After downloading the built PLC program to the
PLC CPU you will be prompted by the message box is shown in Figure A.10.
Click on the OK button.
After performing the above mentioned steps for downloading the PLC pro-
gram to the PLC CPU you should get the following message box (see Fig-
ure A.11).
Now the PLC program is successfully downloaded to the PLC CPU but a
small error occurred in the PLC, the ERR. LED on the PLC CPU starts
blinking red and the PLC is put in the STOP state. This error can be
removed by ONE of the following procedures:
(b) Software Procedure: Select the Start / Stop PLC from the Online
menu or use the Alt+S keyboard shortcut. You will be prompted by
the following dialogue box (see Figure A.13).
It says that the PLC is in the STOP state due to some errors. Click on
the Execute button and click the OK button on the next confirmation
message box. Then the following dialogue box will be shown (see Fig-
ure A.14). If the error still remains redo this step again by clicking on
the Execute button again.
As a matter of fact, resetting the PLC through the hardware procedure
is faster than be the software procedure. In addition, one time resetting
the PLC through software procedure usually does not remove the error
and a second try is needed.
Note: It is recommended to RESET the PLC CPU after each simulation run
to make sure that all overridden signals restore their initial values.
1. Select Monitoring Mode from the Online menu or use the Shift+ESC
keyboard shortcut. Then the status of the desired inputs and outputs in
the PLC program can be monitored through the following procedures while
Monitoring Mode is activated.
2. For instance if one wants to monitor the signals which are in the
S050ModeChoice POU then S050ModeChoice [PRG] should be ex-
panded in the POU Pool tree in the project tree. The Ladder program of
the S050ModeChoice POU can be opened by double clicking on the Body
[LD] of the S050ModeChoice [PRG]. For this example the place of the
S050ModeChoice [PRG] is shown in the project tree in the Figure A.15.
After opening the S050ModeChoice POU in Monitoring Mode, to view
the status of the signals in this POU, the monitoring for this specific POU
should be activated. In Monitoring Mode when one Ladder or SFC program
is opened, Monitoring Mode for that is not activated automatically. To
perform the activation of the monitoring for a Ladder or SFC program while
it is selected, select Start Monitoring from the Online menu or use the
Ctrl+F8 keyboard shortcut instead. Then a narrow yellow color border will
Figure A.16: Figure shows a function block and its related signals in Monitoring Mode,
a yellow outline appears for all signals in Monitoring Mode
3. In order to change the value of a signal in Monitoring Mode there are two
methods:
(a) Double click on a signal’s name in a Ladder or SFC program, for which
the monitoring is started in its POU (Ctrl+F8) or right click on the
signal’s name and select Modify Variable Value. Then if the signals
variable type is BOOL, a confirmation message box will appear and
Figure A.17: Figure shows a function block in Monitoring Mode, for which some of its
signals are activated (they are marked with a yellow filled box)
For the signals with different variable type such as WORD, INT, etc.
a dialogue box will appear for modifying their values (see Figure A.18).
Figure A.18: A dialogue box which value of a WORD type signal could be overridden
through
To enter a signal’s name to this window one could simply type the
signal’s name in the Name column and hit Enter. Then the address
and value of the desired signal will be shown in the respective columns.
Another way is to double click on an empty cell in the name column
Figure A.20: Object list of the project; desired signal for insertion in the Entry Data
Monitor window can be chosen from the list
2. Select Open from the File menu to load the configuration file.
Figure A.22: Properties dialogue box of the VolvoPLC controller. The IP address of
the PLC will be set in this dialogue box.
4. Select Run from the Server dropdown menu or press the F5 key. Then the
server is running and the “Controller is connected” message will be shown in
the “Log information” window (see Figure A.23).
List of Figures
1.1 The different phases of PLM from a DELMIA perspective . . . . . 4
1.2 Plot plan of the station 13-95-050 . . . . . . . . . . . . . . . . . . 5
1.3 Rendered image showing two different views of the car side (red),
and the four work pieces (grey) which are welded together and
placed onto the car side. . . . . . . . . . . . . . . . . . . . . . . . 6
2.1 A figure showing the ”Engineering Connection Definition” dialog.
Also a list of created engineering connections for the weld gun tool
can be seen at the bottom of the tree. . . . . . . . . . . . . . . . 9
2.2 The hierarchical organization of the turntable. An area resource
is at the top level, containing the rotary table, the turntable and
the two spider assemblies which in turn contain the clamps, guiding
pins and sensors. . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.3 Figure showing how PLC signals control the air valves that open
and close the clamps of the spider assembly. The macro ”Call De-
viceTask” is a call for the task defined in the clamp controller to
open the clamps. . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.1 A figure showing the ”Import robot program” feature in DELMIA
V6. The selected tab shows a report of the robot program transla-
tion, and includes descriptions for the warnings. . . . . . . . . . . 15
3.2 Figure showing one of the uploaded tasks in the ”Teach panel”, both
with commands which are successfully translated by the RAPID
translator and the ones which are not, such as ToolLoad and Grip-
perOpen. ”Open Gripper Seq2” is one of the added services which
are called by the robot, and ”Release.1” represents the releasing of
the parts. A timer has been added to let the clamp open before
proceeding with next instruction. . . . . . . . . . . . . . . . . . . 17
4.1 Mitsubishi PLC system structure . . . . . . . . . . . . . . . . . . 19
4.2 Task pool of the PLC program . . . . . . . . . . . . . . . . . . . 20
4.4 General hardware configuration of the system . . . . . . . . . . . 21
4.5 Running OPC server (list of signals and their information for the
fixture 56 are shown) . . . . . . . . . . . . . . . . . . . . . . . . 23
4.3 Program flowchart for fixtures S056 and S057 . . . . . . . . . . . 24
5.1 DELMIA’s external control interface. To the left, the smaller win-
dow shows the settings for connections. To the right, the larger
window shows the OPC server browser, where the mapping between
OPC tags and DELMIA I/Os is done. The fields to the left show
the different available tags and the field to the right shows the I/Os
of the external control block. . . . . . . . . . . . . . . . . . . . . 25
List of Tables
4.1 A sample part of Input/Output Mapping List . . . . . . . . . . . 22